A biomimetic robotic skin and a method of making the same

Abstract

The application provides a kind of bionic robot skin and its preparation method, belong to bionic material preparation technical field, the bionic skin includes epidermis skin layer, liquid silicone material, solid silicone layer, filling glue layer, elastic fiber cloth layer and toning silicone layer from outside to inside respectively;The preparation method includes making epidermis skin layer, making 25 degree hardness liquid silicone material, making solid silicone layer, laying elastic fiber silk, making filling glue layer, smearing curing agent, making elastic fiber cloth layer, pouring 15 degrees toning silicone and final vacuum curing;The bionic skin prepared by the application does not use any glue, is environment-friendly and pollution-free, the elasticity of silicone, the softness of different levels is not affected by the whitening and hardening of glue, fully maintains the toughness, ductility and weather resistance of toning silicone.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot bionic material preparation, in particular to a bionic robot skin and a preparation method thereof. BACKGROUND

[0002] With the development of robot technology, the bionic requirements of robots are also getting higher and higher. At present, the conventional method is to use a mold to make a silicone skin. This method is difficult to match the skin with the machine, and it is difficult to color and easy to discolor. Another method is to use a sponge to shape, and to dilute the silicone glass glue with gasoline. This method has the disadvantages of strong pungent smell of glass glue, insufficient elasticity, flammable gasoline, and poor performance of glass glue after dilution. For example, the Chinese patent with the publication number 102555394A discloses a robot skin, which includes a glass glue mixture layer, a sponge rebound layer and a resin glue layer which are pasted together from outside to inside. This robot skin uses a glass glue mixture layer as a coloring layer, which is difficult to color and easy to discolor, has low simulation degree, and the production process is easy to cause harm to the human body. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art, and provides a preparation method of a bionic robot skin, which can not only meet the plasticity, elasticity, toughness and appropriate hardness of the skin, but also achieve the elasticity, ductility and weather resistance of the simulated human skin. Moreover, the coloring and simulation degree in the later stage are fully considered.

[0004] The present application provides a bionic skin, which includes an epidermal skin layer, a liquid silicone material, a solid silicone layer, a filling glue layer, an elastic fiber cloth layer and a color adjusting silicone layer from outside to inside.

[0005] The present application further provides a preparation method of a bionic skin, which includes the following steps:

[0006] Step 1, preparing the epidermal skin layer: weighing 15 degrees platinum gold silicone gel AB components according to a 1:1 ratio, mixing them together to form a mixed gel, fully stirring the mixed gel, then vacuumizing until the exhaust bubbles are finished, pouring the vacuumized mixed gel into a bionic skin mold to form the epidermal skin layer.

[0007] Step 2, preparing the liquid silicone material: mixing liquid silicone and silicon dioxide according to a 1:0.45 ratio, fully stirring and then vacuumizing to form a 25 degree hardness liquid silicone material.

[0008] Step 3, making the solid silicone layer: before the liquid silicone material prepared in step 2 is solidified, the liquid silicone material is applied on the back of the skin layer prepared in step 1 to form a solid silicone layer; during the solidification process, color paste is added to the liquid silicone material; the color paste is prepared by mixing 5-degree silicone and color according to a ratio of 500:2.

[0009] Step 4, making the filling glue layer: elastic fiber yarns are evenly laid on the back of the solid silicone layer, and filling glue is filled on the surface of the elastic fiber yarns to form a filling glue layer; the elastic fiber yarns are synthetic elastic fiber yarns made of Dupont Lycra.

[0010] Step 5, applying the curing agent: the curing agent is applied on the filling glue layer formed in step 4; the curing agent is a condensation type two-component silicone rubber (RTV-2).

[0011] Step 6, making the elastic fiber cloth layer: elastic fiber cloth is laid on the surface of the curing agent to form an elastic fiber cloth layer; then, 15-degree color-adjusted silicone is brushed on the elastic fiber cloth layer; the elastic fiber cloth is synthetic elastic fiber cloth made of Dupont Lycra.

[0012] Step 7, supplementary brushing of color-adjusted silicone: before the elastic fiber cloth layer and the filling glue layer are completely solidified, 15-degree color-adjusted silicone is poured into the bionic skin mold.

[0013] Step 8, final forming: the bionic skin mold in step 7 is placed in a constant-temperature vacuum box for vacuum curing, the temperature is 60℃, and the time is 28min, and finally the bionic skin is formed.

[0014] Further, the vacuum degree in step 1 is -0.1Mpa.

[0015] Further, the thickness of the skin layer is 1mm.

[0016] Further, in step 3, the thickness of the solid silicone layer is 2-3mm.

[0017] Further, in step 3, the solidification condition is that the solid silicone layer is heated, the temperature is 130℃, and the solidification time is 15min.

[0018] Further, the thickness of the filling glue layer in step 4 is 2-5mm.

[0019] Beneficial effects: compared with the prior art, the advantages of the bionic skin prepared by the present application are that the bionic skin prepared by the present application does not use any glue, is environmentally friendly and pollution-free, the elasticity of the silicone is not affected by the whitening and hardening of the glue, the toughness, ductility and weather resistance of the color-adjusted silicone are fully maintained. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a flowchart of the manufacturing method of the present invention. Detailed Implementation

[0022] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the embodiments described.

[0023] Example 1

[0024] like Figure 1 The bionic robotic skin shown comprises, from the outside to the inside, an epidermal skin layer, a liquid silicone material, a solid silicone layer, a filling adhesive layer, an elastic fiber cloth layer, and a color-matched silicone layer.

[0025] Example 2

[0026] like Figure 2 The method for preparing a bionic skin, as shown, includes the following steps:

[0027] Step 1: Create the epidermal skin layer: Weigh the 15-degree platinum silicone gel A and B components in a 1:1 ratio and mix them together to form a mixed gel; stir the mixed gel thoroughly, and then vacuum until all air bubbles are removed. The vacuum degree here is -0.1Mpa; pour the vacuum-sealed mixed gel into the bionic skin mold to form the epidermal skin layer, which has a thickness of 1mm.

[0028] Step 2: Prepare liquid silicone material: Mix liquid silicone and silicon dioxide in a ratio of 1:0.45, stir thoroughly, and then vacuum to form a liquid silicone material with a Shore hardness of 25.

[0029] Step 3: Prepare a solid silicone layer: Before the liquid silicone material obtained in Step 2 is cured, apply it to the back of the epidermal skin layer obtained in Step 1 to cure the liquid silicone and form a solid silicone layer. The curing conditions are heating the solid silicone layer at a temperature of 130°C for 15 minutes. The final thickness of the solid silicone layer is 2-3 mm. During the curing process, add color paste to the liquid silicone material. The color paste is prepared by mixing 5-degree silicone and the desired color in a ratio of 500:2.

[0030] Step 4: Make the filler layer: Evenly lay elastic fiber filaments on the back of the solid silicone layer, and fill the surface of the elastic fiber filaments with filler adhesive to form a filler layer with a thickness of 2-5mm; the elastic fiber filaments are elastic fiber filaments made of DuPont Lycra material.

[0031] Step 5, applying curing agent: the filling adhesive layer formed in step 4 has particularly high adhesion, so a curing agent is applied thereon to enhance weather resistance; the curing agent is a condensation type two-component silicone rubber (RTV-2).

[0032] Step 6, making elastic fiber cloth layer: an elastic fiber cloth is laid on the surface of the curing agent to form an elastic fiber cloth layer; then, the elastic fiber cloth layer is brushed with 15-degree color adjusting silicone; the elastic fiber cloth is a synthetic elastic fiber cloth made of DuPont Lycra material.

[0033] Step 7, supplementally brushing color adjusting silicone: before the elastic fiber cloth layer and the filling adhesive layer are completely cured, 15-degree color adjusting silicone is poured into the bionic robot skin mold.

[0034] Step 8, final forming: the bionic robot skin mold in step 7 is placed into a constant temperature vacuum box for vacuum curing, the temperature is 60°C, and the time is 28 min, and finally the bionic robot skin is formed.

[0035] As described above, although the present application has been shown and described with reference to certain preferred embodiments, it is to be understood that such is by way of illustration and not of limitation. Various substitutions and modifications can be made thereto without departing from the spirit and scope of the present application as defined in the appended claims.

Claims

1. A preparation method of a biomimetic robot skin, the biomimetic robot skin comprising, from the outside to the inside, an epidermal skin layer, a solid silicone layer, a filling glue layer, an elastic fiber cloth layer, and a toning silicone layer, characterized in that It comprises the following steps: Step 1, making epidermal skin layer: 15 degrees of platinum silicon gel AB group is weighed according to 1:1 composition, mixed together to form a mixed gel; the mixed gel is fully stirred, then vacuumed to exhaust the bubbles, and the mixed gel after vacuuming is poured into a bionic skin mold to form an epidermal skin layer; Step 2, making liquid silicone material: liquid silicone and silica are mixed in a ratio of 1:0.45, fully stirred and vacuumed to form a 25-degree hardness liquid silicone material for standby; Step 3, making solid silicone layer: before the liquid silicone material prepared in step 2 is cured, it is applied on the back of the epidermal skin layer prepared in step 1, and the liquid silicone is cured to form a solid silicone layer; color paste is added to the liquid silicone material; the color paste is prepared by mixing and stirring 5-degree silicone and the required color according to a ratio of 500:2; Step 4, making filling glue layer: evenly laying elastic fiber yarn on the back of the solid silicone layer, and filling the filling glue on the surface of the elastic fiber yarn to form a filling glue layer; Step 5, applying curing agent: applying curing agent on the filling glue layer formed in step 4; Step 6, making elastic fiber cloth layer: laying elastic fiber cloth on the surface of the curing agent to form an elastic fiber cloth layer; Then, brushing 15-degree color adjusting silicone on the elastic fiber cloth layer; Step 7, supplementing color adjusting silicone: pouring 15-degree color adjusting silicone into the bionic robot skin mold before the elastic fiber cloth layer and the filling glue layer are completely cured; Step 8, final forming: placing the bionic robot skin mold in step 7 into a constant temperature vacuum box for heating and vacuum curing, the temperature is 60℃, the time is 28min, and finally the bionic robot skin is formed.

2. The method of claim 1, wherein: The vacuum degree in step 1 is -0.1Mpa.

3. The method of claim 1, wherein: The thickness of the epidermal skin layer is 1mm.

4. The method of claim 1, wherein: In step 3, the thickness of the solid silicone layer is 2-3mm.

5. The method of claim 1, wherein: The curing condition in step 3 is to heat the solid silicone layer, the temperature is 130℃, and the curing time is 15min.

6. The method of claim 1, wherein: The thickness of the filling glue layer in step 4 is 2-5mm.

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